FIELD OF THE INVENTION The present invention relates to a system for sorting objects, such as nuts and bolts, within automated assembly, by using a scoop arranged on a robotic manipulator, such as a robotic arm. The invention also relates to a corresponding method and a corresponding scoop. BACKGROUND OF THE INVENTION

The term industrial part feeding covers the task of getting parts from storage into the production cell, where it is used. The task is found in many areas of industry, but especially evident in the area of automated assembly, where a number of subparts, e.g. washers, nuts and bolts, needs to be assembled to a full part, such as a motor or a thermostat.

Automatic assembly often requires non-trivial operations such as tight-fit insertion or screwing, which in turn are likely to require advanced manipulators, such as one or more robotic arms. To handle parts, a robotic arm can be fitted with a gripper, but this is far from being as dexterous as the human hand, and thus, requires parts to be singulated/separated from bulk and oriented, in order to enable the gripper to grasp and insert them properly in an assembly. Typically, singulation/separation tasks are handled by dedicated part feeding systems such as Vibratory Bowl Feeders, although newer methods apply vision- based solutions to pick parts directly from bins.

A third solution is a hybrid of vibration and robotic gripper picking, known as flexible part feeders, where parts are picked from a surface using a robotic gripper and vision, wherein the surface can be vibrated to move the parts around for singulation/separation and orientation. However, for various reasons, these solutions are typically very costly, and, in the case of the bin-picking solution, slow. Hence, an improved sorting system would be advantageous, and in particular, a more efficient and/or reliable sorting system would be advantageous.

OBJECT OF THE INVENTION

It is a further object of the present invention to provide an alternative to the prior art.

In particular, it may be seen as an object of the present invention to provide a sorting system that solves the above mentioned problems of the prior art with bin-picking small parts from bulk such as lots of different parts, non-oriented and in bins, in a fast and inexpensive manner, without the use of vision-based technology. SUMMARY OF THE INVENTION

Thus, the above described object and several other objects are intended to be obtained in a first aspect of the invention by providing a sorting system for sorting objects, the system comprising:

-a container with a plurality of objects,

-a robotic manipulator, such as a robotic arm,

-a scoop, the scoop comprising :

-an inlet portion for scooping objects from the container,

-a main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove comprising :

-a start portion for feeding the objects from the inlet portion along a length of the groove, and

-an end stop extending from the end portion of the scoop into the groove, and

-a mounting portion for mounting the scoop to a flange of the robotic manipulator, wherein the robotic manipulator is situated adjacent to the container, arranged so as to scoop objects from said container onto the scoop and performing a translational and/or rotational movement in at least one direction, the

translational and/or rotational movement resulting in a subset of objects being sorted into the groove, and

wherein the robotic manipulator angles the scoop so as to slide the objects along the groove towards the end stop of the groove, thereby orienting the objects for a subsequent grasping.

The invention is particularly, but not exclusively, advantageous for obtaining a simple, cheap and fast method of sorting bulk parts from a bin or container without the need for advanced vision-based technology and/or separate, vibrating surface separators, by using one or more robots for separation and sorting/picking of parts of various geometry, size, weight, material, centre of mass, mass distribution and surface quality and/or surface roughness.

Preferably, the invention is advantageous in that it enables one robot with a robotic gripper and a plurality of scoops to sort a wide variety of mixed parts from one or more bins or containers, without the aid of vibrating separators or vision- based technology.

In the context of the present invention, a scoop is to be understood as a tool with a bowl-like shape and a handle or coupling fixture, for scooping something, such as small parts, from a bin or container, into or onto the scoop, so as to hold the parts for further processing, such as sorting.

In the context of the present invention, a groove is to be understood as a slot or recess comprised from two opposite surfaces, such as two opposite protrusions or e.g. a recess machined, drilled or moulded into a surface. Furthermore, a groove, recess or slot can be through-going or have a defined bottom surface, depending on its specific function. If a bolt is longer than the height of a scoop, the bolt can protrude from the bottom of a scoop having a through-going groove, recess or slot. In the context of the present invention, objects are to be understood as a wide range of parts, the parts possibly varying in size, geometry, shape, weight and material including magnetic properties.

In the context of the present invention, sorting may be understood as including, but not limited to, sorting objects of various size, shape and geometry from each other, as well as sorting identical objects, or substantially identical objects, reorienting said substantially identical objects and/or align them in a row, pattern or group for effective picking or grasping from an automated picker, such as a robotic gripper.

In the context of the present invention, direction is to be understood as the line or course on which something is moving or is aimed to move or along which something is pointing or facing, such as at least in a negative or positive path along an axis, such as an x, y or z axis in a coordinate system representing a free body diagram.

In an embodiment of the sorting system, the robotic manipulator may have a robotic gripper, such as a robotic hand, at the flange of the robotic manipulator, and/or further comprising a scoop, wherein the mounting portion of the scoop is arranged so as to enable the robotic gripper to engage said mounting portion, thereby enabling the robotic gripper to engage with the mounting portion, such as a handle, in an simple and effective manner, avoiding complex mounting procedures.

In an advantageous embodiment, the sorting system further comprises:

-a first plurality of substantially identical objects for being sorted,

-at least one container, and

-a scoop for sorting corresponding objects,

wherein the groove in the scoop corresponds to a specific type of said objects, the present invention suitable for sorting, aligning or re-orienting small batches of objects or parts within an automated assembly setup, such as bin-picking parts and arranging them for assembly by a robotic gripper.

In a preferred embodiment, the sorting system further comprises: -a first plurality of different types of objects for being sorted,

-at least one container, and

-a second plurality of scoops for sorting corresponding objects, wherein the groove of each of the scoops are geometrically different, each groove corresponding to a specific type of object, the present invention suitable for sorting through an variety of objects of different size, shape or material by using a plurality of scoops, each scoop designed to sort one of the types of objects within a container.

In a second aspect, the present invention relates to a scoop for sorting objects in an associated container, the scoop comprising :

-an inlet portion for scooping objects from the associated container,

-a main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove

comprising :

-a start portion for feeding the objects from the inlet portion along a length of the groove, and

-an end stop extending from the end portion of the scoop into the groove, and

-a mounting portion for mounting the scoop to a flange of an associated robotic manipulator, wherein, when the robotic manipulator is performing a translational and/or rotational movement in at least one direction, the scoop is facilitating a subset of objects to be sorted into the groove, and

wherein the subset of objects, when the robotic manipulator angles the scoop so as to slide the objects along the groove towards the end stop of the groove, are being oriented for a subsequent grasping .

In an embodiment, the scoop further comprises at least one side portion having a bottom surface and a side surface, wherein said side surface is angled in relation to the bottom surface for keeping objects that are not aligned or settled in the groove within the scoop, so as to enable the translational and/or rotational movement of the scoop and the resulting movement of the objects within the scoop, to let the objects pass by/over the groove multiple times, to have a subset of the objects settle within the groove.

In an embodiment, the scoop further comprises a funnel at the inlet portion oriented towards the main body of the scoop, for precisely guiding the objects sliding from the inlet portion towards the start portion of the groove, by guiding each object through the funnel so as to increase the amount of objects settling or aligning into the groove, decreasing the need for translational and/or rotational movements of the scoop to save time in the sorting process.

In an embodiment of the scoop, the groove is oblique from the start portion of the groove to the end portion of the groove. The oblique design is suitable for translating/altering the orientation of an object moving from the start portion of the groove towards the end portion of the groove. The embodiment is

advantageous in that it enables the groove to a funnel-like design at the start portion, increasing the chance of an object settling into the groove and gradually, towards the end portion, changing the orientation of the object to prepare the object for faster sorting or picking.

In the context of the present invention, oblique is to be understood as skewed, twisted or inclined to one side.

In an embodiment, the scoop and groove are dimensioned for sorting objects having a volume between 0.01 cm ³ and 100 cm ³ , preferably between 0.1 cm ³ and 20 cm ³ and more preferably between 1.0 cm ³ and 10 cm ³ , such as washers, nuts or bolts.

In an embodiment, the scoop further comprises a vibrating element, such as a vibrating motor, suitable for vibrating the scoop and altering the position of the objects, so as to decrease the time spent for the objects to align within the groove.

In a third aspect, the present invention relates to a computer program product being adapted to enable a computer system comprising at least one computer having data storage means in connection therewith to control a manufacturing system or device, preferably an additive manufacturing system or device or a three-dimensional printing system or device, for producing a scoop according to the first and second aspect.

This aspect of the invention is particularly, but not exclusively, advantageous in that the method according to the present invention may be implemented by providing a software kit, comprising analysis and modelling software, and using said kit for analysing an object with a computer program and 3-D print a scoop according to the first and second aspect with grooves corresponding to the analysed object, the scoop thereby being suitable for sorting the specific object.

The computer program product or software kit may enable a computer system to carry out the operations of the invention, or manufacture parts or elements therefore, when down- or uploaded into the computer system. Such a computer program product may be provided on any kind of computer readable medium, or through a network.

In a fourth aspect, the present invention relates to a method for sorting objects, the method comprising :

-providing a container with a plurality of objects,

-providing a robotic manipulator, such as a robotic arm,

-providing a scoop, the scoop comprising :

-an inlet portion for scooping the objects from the container,

-a main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove

comprising :

- a start portion for feeding the objects from the inlet portion along a length of the groove, and

- an end stop extending from the end portion of the scoop into the groove, -a mounting portion for mounting the scoop to a flange of the robotic manipulator,

-mounting the scoop to the flange of the robotic manipulator,

-scooping the objects from the container onto the scoop,

-performing a translational and/or rotational movement of the scoop in at least one d irection by movement of the robotic manipulator so as to align a subset of objects into the groove,

-ang ling the scoop by movement of the robotic manipulator so as to slide the subset of objects situated within the groove towards the end stop of the groove, and

-g rasping the objects from the groove with a robotic gripper.

In a fifth aspect, the present invention relates to a method for sorting objects, the method comprising :

-providing a container with a plurality of objects,

-providing a robotic manipulator, such as a robotic arm,

-providing a scoop, the scoop comprising :

-an inlet portion for scooping the objects from the container,

-a main body comprising a first surface with at least one g roove extending from the inlet portion to an end portion of the scoop, the groove

comprising :

- a start portion for feed ing the objects from the inlet portion along a length of the groove, and

- an end stop extending from the end portion of the scoop into the groove,

-a mounting portion for mounting the scoop to a flange of the robotic manipulator, -mounting the scoop to the flange of the robotic manipulator,

-scooping the objects from the container onto the scoop,

-performing a translational and/or rotational movement of the scoop in at least one direction by movement of the robotic manipulator so as to align a subset of objects into the groove, -angling the scoop by movement of the robotic manipulator so as to slide the subset of objects situated within the groove towards the end stop of the groove, and

-grasping the objects from the groove with a robotic gripper.

The fourth and fifth aspect of the invention is particularly, but not exclusively, advantageous in that the method according to the present invention may be implemented by providing a scoop according to the second aspect, at any point of the supply chain where feasible.

The first, second, third, fourth and/or fifth aspect of the present invention may each be combined with any of the other aspects. These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

BRIEF DESCRIPTION OF THE FIGURES

The sorting system, scoop and method according to the invention will now be described in more detail with regard to the accompanying figures. The figures show one way of implementing the present invention and is not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.

Figure 1 shows a system for sorting objects according to the present invention. Figure 2 shows a trimetric view of a scoop for sorting bolts according to the present invention.

Figure 3 shows a trimetric view of a scoop for sorting cylinders according to the present invention.

Figure 4 shows a trimetric view of a scoop 10 for sorting objects, such as nuts and end-caps, according to the present invention.

Figure 5 shows a trimetric view of a scoop 10 for sorting elongate members with a head, such as pins, according to the present invention.

Figure 6 shows a trimetric view of a scoop 10 for sorting circle-shaped objects, such as rings, according to the present invention.

Figure 7 shows a trimetric view of a scoop 10 for sorting circle-shaped objects, such as washers, according to the present invention.

Figure 8 shows a trimetric top view of a scoop 10 for sorting elongate members with a head, such as bolts, according to the present invention.

Figure 9 shows a back view of a scoop according to the present invention.

Figure 10 shows a side view of a scoop according to the present invention.

Figure 11 is a flow-chart of a method according to the invention.

Figure 12 is a flow-chart of a method according to the invention.

Figure 13 is a table illustrating test results according to the invention.

Figure 14A is a side view of a first sorting motion according to the invention.

Figure 14B is a side view of a second sorting motion according to the invention. Figure 14C is a side view of a third sorting motion according to the invention. Figure 14D is a side view of a fourth sorting motion according to the invention. Figure 14E is a side view of a fifth sorting motion according to the invention. Figure 14F is a side view of a sixth sorting motion according to the invention. Figure 14G is a side view of a seventh sorting motion according to the invention.

Figure 14H is a side view of a eighth sorting motion according to the invention. Figure 141 is a side view of a ninth sorting motion according to the invention. Figure 14J is a side view of a tenth sorting motion according to the invention. Figure 14K is a side view of a eleventh sorting motion according to the invention. Figure 14L is a side view of a twelfth sorting motion according to the invention.

DETAILED DESCRIPTION OF AN EMBODIMENT

Figure 1 shows a system for sorting objects, according to the present invention. The figure shows a robotic arm 1 with a robotic gripper 2, the robotic gripper 2 engaged with a scoop 10, for sorting a variety of different objects 4 from an adjacent container 3. In figure 1, container 3 schematically shows that the objects are different in sizes, shapes, etc. Alternatively, figure 1 illustrates a second container 3' with a plurality of substantially identical objects 4' schematically shown as rectangles, said objects 4' being suitable for the robotic gripper 2 and scoop 10 to sort.

Figure 2 shows a trimetric view of a scoop 10 for sorting elongate members with a head, such as bolts, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as elongate members with a head, such as a bolt. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.

Figure 3 shows a trimetric view of a scoop 10 for sorting cylindrical objects, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting cylindrical objects, such as a cylinder. The second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the oblique edge 23 towards the end stop 19. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22. Figure 4 shows a trimetric view of a scoop 10 for sorting objects such as nuts and end-caps, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as nuts and end-caps. The first protrusion 16' has a first surface 24 protruding towards the second protrusion 16" and the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the first surface 24 and the oblique edge 23 towards the end stop 19. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.

Figure 5 shows a trimetric view of a scoop 10 for sorting elongate members with a head, such as pins, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as elongate members with a head, such as a pin. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.

Figure 6 shows a trimetric view of a scoop 10 for sorting circle-shaped objects such as rings, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting circle-shaped objects, such as rings. The first protrusion 16' has a first surface 24 protruding towards the second protrusion 16" and the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the first surface 24 and the oblique edge 23 towards the end stop 19. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Towards the end stop 19, the edges 25', 25" of the first and second protrusion 16', 16" have arched recesses for improving the alignment of circle-shaped objects such as rings within the groove 17 and end stop 19.

Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.

Figure 7 shows a trimetric view of a scoop 10 for sorting circle-shaped objects such as washers, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting circle-shaped objects, such as washers. The first protrusion 16' has a first surface 24 protruding towards the second protrusion 16" and the second protrusion 16" has an oblique edge 23, for manipulating the orientation of an object traveling along the first surface 24 and the oblique edge 23 towards the end stop 19. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.

Figure 8 shows a trimetric top view of a scoop 10 for sorting elongate members with a head, such as bolts, according to the present invention. The figure shows a scoop 10 with an inlet portion 11 suitable for scooping objects from a container. The inlet portion 11 is connected to a main body 12. The inlet portion 11 has a first surface 13 extending into a funnel 14, which are suitable for guiding objects onto a first surface 15 of the main body 12, the main body 12 comprising a first and second protrusion 16', 16" which, said protrusions when combined, forming a groove 17, suitable for receiving and orienting objects, such as elongate members with a head, such as a bolt. At one end of the groove 17, opposite of the start portion 18, the groove has an end stop 19, for holding objects, said objects being ready for sorting. Furthermore, this embodiment of the present invention has a part catching mechanism 20, the mechanism comprising a side surface 21 extending from the first surface 15 of the main body 12, angled upwards so as to catch objects not seated in the groove 17 of the scoop 10. Opposite to the inlet portion 11 of the scoop 10, the scoop 10 has a mounting portion 22 for engaging with a robotic manipulator, such as a robot arm, with a fixture or bracket on its flange, suitable for engaging or interlocking with the mounting holes 23 in the mounting portion 22.

Figure 9 shows a back view of a scoop, according to the present invention. The figure shows the bottom surface 26 of the scoop and from left to right the backside of the inlet portion 11, the main body 12 in the middle and the mounting portion 22 to the right.

Figure 10 shows a side view of a scoop, according to the present invention. The figure shows a side of the scoop, and from left to right the side of the inlet portion 11, the main body 12 in the middle and the mounting portion 22 to the right.

Figure 11 is a flow-chart of a method according to the invention. Figure 11 illustrates a method for sorting objects according to the fourth aspect, the method comprising:

51 providing a container with a plurality of objects,

52 providing a robotic manipulator, such as a robotic arm,

53 providing a scoop, the scoop comprising:

-an inlet portion for scooping the objects from the container,

-a main body comprising a first surface with at least one groove extending from the inlet portion to an end portion of the scoop, the groove

comprising:

- a start portion for feeding the objects from the inlet portion along a length of the groove, and

- an end stop extending from the end portion of the scoop into the groove,

-a mounting portion for mounting the scoop to a flange of the robotic manipulator,

S4 mounting the scoop to the flange of the robotic manipulator, 55 scooping the objects from the container onto the scoop,

56 performing a translational and/or rotational movement of the scoop in at least one direction by movement of the robotic manipulator so as to align a subset of objects into the groove,

57 angling the scoop by movement of the robotic manipulator so as to slide the subset of objects situated within the groove towards the end stop of the groove, and

58 grasping the objects from the groove with a robotic gripper.

Figure 12 is a flow-chart of a method according to the invention. Figure 12 illustrates a method for sorting objects according to the fourth aspect, the method further comprising:

51 providing a holding structure for holding a scoop, preferably in an angled position, wherein the end-stop of the groove is positioned lower vertically, relative to the start portion of the groove,

52 providing a robotic manipulator according to the first aspect, the robotic manipulator further comprising a robotic gripper, such as a robotic hand, at the flange of the robotic manipulator,

53 providing a scoop, wherein the mounting portion of the scoop is arranged so as to enable the robotic gripper to engage with said mounting portion,

54 engaging the mounting portion of the scoop with the robotic gripper,

55 scooping the objects from the container onto the scoop,

56 performing a translational and/or rotational movement of the scoop in at least one direction by movement of the robotic manipulator so as to align a subset of objects into the groove, 57 angling the scoop by movement of the robotic manipulator so as to slide the objects situated within the groove towards the end stop of the groove,

58 placing the scoop on the holding structure,

59 disengaging the robotic gripper from the mounting portion of the scoop, and

S10 sorting the subset of objects within the groove of the scoop with the robotic gripper.

Figure 13 is a table illustrating test results according to the invention. The columns represent different objects to be sorted by the different embodiments of scoops. In total 50 scooping motions per part were executed and evaluated by a human observer.

The first row illustrates average number of objects scooped into the scoops inlet portion.

The second row illustrates average number of objects successfully aligned in the groove.

The third row illustrates the likelihood of making a subsequent task possible, after successfully aligning at least one object in the groove, such as subsequently attempting to grasp said object from the groove.

The fourth row illustrates an estimate of scooped parts per minute, based on the 50 scooping motions per part.

Figure 14A is a side view of a first sorting motion according to the invention. The Figure shows a vertically positioned scoop 10 performing a translational movement 50, down toward a container 3. Inside said container, a plurality of objects 4 lie misaligned.

Figure 14B is a side view of a second sorting motion according to the invention. The Figure illustrates the scoop 10 abutting the container 3, said container 3 storing a plurality of misaligned objects 4. At the end portion of the scoop 4, a coordinate system 70 with three axis is displayed. An arrow illustrates a torque 61 acting on the x-axis of the scoop 10, as a result of the scoop 10 coming into contact with the container 3. Figure 14C is a side view of a third sorting motion according to the invention. The Figure illustrates the scoop 10 performing a translational movement 50 towards the plurality of misaligned objects 4 inside the container, while at the same time maintaining contact with the bottom of the container 3.

Figure 14D is a side view of a fourth sorting motion according to the invention. The Figure illustrates the scoop 10 abutting the container 3 and the plurality of misaligned objects 4. As a result of the scoop having performed a translational movement in Figure 14C and thus coming into contact with the container 3, a force 51 acts upon the scoop 10 upon the impact between the scoop 10 and container 3. At the end portion of the scoop 4, a coordinate system 70 with three axis is displayed. Figure 14E is a side view of a fifth sorting motion according to the invention. The Figure illustrates the scoop 10 performing a translational movement 50 and a rotational movement 60 around an x-axis, so as to initiate a scooping of the plurality of misaligned objects 4. Figure 14F is a side view of a sixth sorting motion according to the invention. The Figure illustrates the scoop 10 performing a translational movement 50 and a rotational movement 60 around an x-axis, and continuing the sorting movement illustrated in Figure 14E and thus, scoop the plurality of misaligned objects 4 into the inlet portion of the scoop 3.

Figure 14G is a side view of a seventh sorting motion according to the invention. The Figure illustrates the finished sorting motion of Figure 14F, in which the end portion of the scoop 3 comes into contact with the container 3, and thus a force 51 acts upon the scoop 10 upon the impact between the scoop 10 and container 3. At the end portion of the scoop 4, a coordinate system 70 with three axis is displayed.

Figure 14H is a side view of a eighth sorting motion according to the invention. The Figure illustrates a translational movement 50 of the scoop 10, so as to move the scoop out of the container. A plurality of misaligned objects 4 resides in the inlet portion of the scoop 3. At the end portion of the scoop 4, a coordinate system 70 with three axis is displayed.

Figure 141 is a side view of a ninth sorting motion according to the invention. The Figure illustrates the scoop 10 performing a plurality of movements, both rotational movements 60 and translational movements 50, so as to align a plurality of objects 4' in the groove in the scoop 10 and further to remove any misaligned objects 4" from the inlet portion of the scoop, letting the misaligned objects fall into the container 3 from where they were scooped up in Figure 14F.

Figure 14J is a side view of a tenth sorting motion according to the invention. The Figure illustrates the initiation of a rotational movement 60 of the scoop 10 around the x-axis, so as to position the scoop in a vertical position and empty the inlet portion of the scoop 10 from any misaligned objects 4" which are not positioned in the groove of the scoop 10 as an aligned object 4'. The scoop 10 is still positioned, hovering, above the container 3 containing a subset of the misaligned objects 4, which were removed from the scoop 10 as a result of the rotational and translational movements illustrated in Figure 141.

Figure 14K is a side view of an eleventh sorting motion according to the invention. The Figure illustrates the scoop 10 being rotated 60 back to a horizontal position while the last misaligned objects 4" slides off the inlet portion of the scoop, back to the subset of misaligned objects 4 left in the containers, while the aligned objects 4' are still positioned in the groove of the scoop. At the end portion of the scoop 4, a coordinate system 70 with three axis is displayed.

Figure 14L is a side view of a twelfth sorting motion according to the invention. The Figure illustrates the scoop 10 positioned horizontally, ready for the aligned objects to be grasped or otherwise picked from the groove of the scoop 10.

It is to be understood that the above description of the movements of the scoop is only one method of scooping a plurality of objects from a misaligned state, such as positioned in a container, and subsequently moving the scoop into a position ready for sorting the misaligned objects by having them slide into the groove of the scoop. Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is set out by the accompanying claim set. In the context of the claims, the terms "comprising" or "comprises" do not exclude other possible elements or steps. Also, the mentioning of references such as "a" or "an" etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous. The invention can be implemented by means of hardware, software, firmware or any combination of these. The invention or some of the features thereof can also be implemented as software running on one or more data processors and/or digital signal processors. The individual elements of an embodiment of the invention may be physically, functionally and logically implemented in any suitable way such as in a single unit, in a plurality of units or as part of separate functional units. The invention may be implemented in a single unit, or be both physically and functionally distributed between different units and processors.

To sum up, the invention provides a sorting system, for sorting objects such as nuts and bolts. The system comprises a container with assorted objects and/or a container with substantially identical objects to be sorted, a robotic manipulator, such as a robotic arm, within reach of the container. A scoop 10 is mounted on the flange of the robotic arm, for scooping up objects from the container. The scoop is designed with an inlet 11, a funnel 14 at the inlet and a groove 17, wherein the funnel is designed for feeding objects into the groove and the groove is specifically designed for sorting through objects and aligning specific objects within the groove. As some objects do not settle within the groove directly from the funnel, the robotic arm can perform translational and or rotational movements, shuffling the objects within the scoop, settling and aligning additional objects within the scoop. The objects, now aligned within the groove, are oriented so as to be grasped by a robotic gripper for sorting.